Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Robust Controller Design for Non-square Linear Systems Using a Passivation Approach

수동화 기법에 의한 비정방 선형 시스템의 강인 제어기 설계

  • 손영익 (동아대학교 전기전자컴퓨터공학부)
  • Published : 2002.11.01
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Abstract

We present a state-space approach to design a passivity-based dynamic output feedback control of a finite collection of non-square linear systems. We first determine a squaring gain matrix and an additional dynamics that is connected to the systems in a feedforward way, then a static passivating (i.e. rendering passive) control law is designed. Consequently, the actual feedback controller will be the static control law combined with the feedforward dynamics. A necessary and sufficient condition for the existence of the parallel feedfornward compensator (PFC) is given by the static output feedback fomulation, which enables to utilize linear matrix inequality (LMI). The effectiveness of the proposed method is illustrated by some examples including the systems which can be stabilized by the proprotional-derivative (PD) control law.

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References

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